Download Sigma II Profibus Module - NS500

Sigma II Profibus Module - NS500
SIGMA II - Profibus DP¥ Connectivity for Single-Axis Positioning
Used for a wide variety of applications, including:
•
•
•
Point-to-Point Positioning
Precise Velocity Control
Conditional Profile Execution in response to an external input
For Additional Information
.
40
Profibus DP™ Communication
42
Functional Features and Capabilities
46
Software Utility
I/O Connections
48
50
Indexer Ratings and Specifications
51
Indexer Selection/Ordering Information
75
Indexer Application Module Dimensions
Servomotor and Amplifier Ratings & Selections
*Sigma II Servo System Product Catalog Supplement G-MI#99001x-Sigma II
Page(s)
-
41
45
47
49
*
55
82
For more information about Profibus¥, visit www.profibus.com
1.
2.
3.
4.
5.
Simplified Control System
•
Conformance Tested Profibus DP¥ (EN50170), Device type: Generic I/O
•
Supports Profibus¥ cyclic data transfer
•
Baud Rates: Autobaud detect sets the application module speed to 9600bps to 12Mbps
Easy to Set Up and Use
•
Just snap the JUSP-NS500 application module onto any Sigma II SGDH servo amplifier
•
No programming required: Configure with Profibus¥ conformance tested GSD file
Various Motion Control Functions
•
Point table positioning
•
Edit up to 50 positions and corresponding speeds to the NS500’s set of parameters
via either Profibus¥ or Yaskawa’s NSXXX pc setup utility
•
External input positioning
•
Station number input (indexing a rotary table)
•
Positioning moves with up to 16 stages of speed changes
•
Homing: choice of four styles
Applications
•
Semiconductor fabrication, test, and assembly equipment
•
Food processing and packaging
•
Pharmaceutical packaging and test equipment
•
Automotive assembly and test equipment
•
Material handling, pick and place, linear motor
•
Machine tool (tool changers, sheet feeders, etc.)
Certified International Standards
•
UL, cUL recognized (File #: E165827), CE compliance
39
JUSP-NS500
Indexer
Design Features
Sigma II Profibus Module - NS500
Sigma II Profibus Communication
The Sigma II Indexer is a compact, cost-effective solution for the needs of both the machine OEM
and the end user. All servo loops and positioning functions are included in a self-contained servo
amplifier/indexer package. Machine controller to servo axis interfacing simplifies to Profibus DP¥
communications and wiring.
Control System Architecture
I/O FIELDBUS Master Module
PLC or PC
Actual
Position,
Speed
Position,
Speed,
Acceleration,
Deceleration
Data transfer I/O connection
SGDH-
YASKAWA
Servo amplifier slave
Inverter
Profibus Protocol
•
The Profibus DP¥ specification divides network
transmissions into three phases:
•
Parameterization: specifies DP services.
•
Configuration: the master transfers application
setup files to each node.
•
Data transfer: cyclic data exchange
•
Data transfer communication messages are suitable
for time-critical, control-oriented data.
•
The Sigma II messages are eight bytes long,
embedded within the data unit of the Profibus¥ FDL
Frame Format.
Profibus¥ FDL Frame Overview
Profibus¥ FDL Frame Format
JUSP-NS500
Indexer
SD
DA/SA
FC
DATA
UNIT
FCS
ED
FDL Telegram
Where:
SD = Start Delimiter Data Link DA
SA = Source Address
FC
DATA_UNIT=Data Field Length FCS
ED = End Diameter
CRC = Cyclic Redundancy Code
= Destination Address
= Function Code
= Frame Check
Sequence
Using the Eight-Byte Data Field
•
Sigma II with Profibus¥ accepts two types of
messages in the Data Unit Field for positioning
applications:
•
Move commands (monitor and control)
•
Set/Read commands (setup and
troubleshooting)
Sigma II Move Commands
Command Message Format
Byte
Bit 7
0
1
2
3
4
5
6
7
0
Bit 6
Bit 5
Bit 4
Bit 3 Bit 2
Bit 1
Bit 0
0
ALRST ESTP
0
0 SVON C_STRT
Response type
Command code
HOME PTBL STN STEP FEED 0 HOLD CANCEL
0
0
0
0
0
0
DIR
INC
Command data
Refer to the Profibus¥ Interface Unit User’s Manual
(SIE-C718-8) for a detailed description of the command
bits.
40
Using move command messages
•
Initiate positioning or speed control moves
•
Communicate positioning move variables
•
Activate point tables of index moves
•
Activate homing, alarm reset, emergency stop, feed
hold, and servo amplifier functions
•
Example of Command Execution:
•
Set the positioning command code and data
•
Change the Command Start(C-Start), byte 0, bit 0,
from 0 to 1
Positioning Command Codes
0000
0001
0010
0011
0100
Operation
No operation
Simple positioning
External positioning
Positioning with notch signal outputs
Multi-speed positioning
Sigma II Profibus Module - NS500
Sigma II Responses to Move Commands
Response Messages
•
Reports the status of the current
positioning move , i.e., in position, near
position, home, overtravel, alarm, etc.
•
Move data can be collected in the
response. See the response type table at
the right.
•
The data requirements in the response
message are specified in the command
message, byte 1, bits 4 through 7, (as
shown on the Command Message
Format table on the previous page).
•
Response codes are returned in the
response message (byte 1, bits 4 through
7) along with the data.
Response Message Format
Byte
Bit 7
0
1
2
3
4
5
6
7
0
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
READY PWRON ESTP_R ALRM WARN SVON_R C_STRT_R
Response type
Command code
HOME_R PTBL_R STN_R STEP_R FEED_R
0
HOLD_R
PRGS
POT
NOT INPOS NEAR HOME_P
0
DIR_R
INC_R
Response data
Response Data
Reference Units (RU)
Response Type
0000
0001
0010
0011
0100
0101
1010
1011
Command position (RU)
Current position (RU)
Following error (RU)
Command speed (1000RU/
min.)
Current speed (1000RU/min.)
Torque (%)
Station number
Point table number
Refer to the Profibus DP¥
Interface Unit User’s Manual
(SIE-C718-8) for a detailed
description of the status bits.
Sigma II Set/Read Commands and Command Codes
Command Message Format
Byte Bit 7
0
1
2
3
4
5
6
7
Bit 6 Bit 5
1
0
Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
ALRST ESTP
0
0
0 SVON C_STRT
Command code
JUSP-NS500
Indexer
Set/Read messages enable user friendly network
routines that can reconfigure machine positioning
variables, initialize setup routines, enable autotuning, source alarm and warning data, etc. These
functions are available to any master on the network.
Uses of Set/Read Messages
•
Set up and configuration data
•
Edit parameters
•
Set/edit preprogrammed point tables of
index moves
•
Report alarm codes
•
Use with data transfer I/O communication
Defining Set/Read Messages (versus move
command messages)
•
Set by byte 0, bit 7 = 1
•
It is not necessary to specify response
type for Set/Read commands
Command number
Command message
Command Code
0000
1000
1001
1010
1011
1100
1110
Operation
No operation
Read parameter
Write parameter
Set current position
Set zero point
Read alarm
Reset Unit
Response Message Format
Command Codes
•
Set "No Operation" to prevent execution
of commands.
•
Out-of-range parameters generate a
setting error (WARN bit)
Byte
Bit 7
0
1
2
3
4
5
6
7
1
Bit 6
Bit 5
Bit 4
READY PWRON ESTP_R
0
Bit 3
ALRM
Bit 2
Bit 1
Bit 0
WARN SVON_R C_STRT_R
Command code
Command number
response data
41
Sigma II Profibus Module - NS500
Sigma II Profibus¥ Functional Features and Capabilities
Sigma II Profibus¥acts as a servo position or velocity controller slave to a master controller. For
application flexibility, use a data transfer connection from the applications software to dynamically
load incremental or absolute point-to-point positioning data. For these applications use:
•
Simple positioning
•
Simple positioning with notch outputs
•
External input positioning
•
Multistage velocity positioning
For precise velocity control only, use Feed operation. For applications where the parameters of the
positioning moves can be preset, use:
•
Stepping operation
•
Point-table positioning
•
Station number positioning (rotary table operation)
Note: Establish or change parameters of a preset move with an GSD file configuration, Yaskawa’s Windows NSXXX software utility,
or a dynamic Sigma II data transfer of Set/Read Commands. For more permanent settings, recycle the power or issue a unit
reset command (to move the parameters into non-volatile memory).
Stepping Operation
Velocity
v
Step
distance
Step
distance
Time
JUSP-NS500
Indexer
STEP
DIR
STEP bit: Refer to the Move Command
message format, byte 2, bit 4.
DIR bit: Refer to the Move Command
message format, byte 3, bit 1.
How it works:
•
When the STEP bit turns ON, the axis moves in the
specified direction (DIR bit).
•
Use command data to select one of four preset
parameters that define the step distance. Moves can be
incremental or absolute.
•
When the STEP bit turns OFF during movement, step
movement is cancelled.
•
Additional parameters to help define the stepping operation are preset to determine:
•
Approach velocity (v) and acceleration/
deceleration type (eight types are available,
including S-curve)
•
Acceleration/deceleration values
Feed Operation
Velocity
v
Time
FEED
DIR
FEED bit: Refer to the Move Command
message format, byte 3, bit 3.
42
How it works:
•
While the FEED bit is ON, the axis jogs in the direction
specified.
•
Use command data during movement to set or override
the preset velocity feed.
•
Parameters are preset to determine:
•
Feed velocity (v)
•
Acceleration/deceleration type
•
Acceleration/deceleration rate
Sigma II Profibus Module - NS500
Point Table Positioning
PRESET INDEX MOVES
How it works:
•
Use command data to select point table number and
then the PTN bit to initiate positioning.
•
Fifty positioning points are available.
•
Point table parameters are preset to determine:
•
Target position
•
Positioning velocity
POINT TABLE
NUMBER
TARGET POSITION
POSITIONING VELOCITY
1
:
50
X1
—
X50
V1
—
V50
Velocity
Time
PTN
PTN bit: Refer to the Move Command
message format, byte 2, bit 6.
Simple Positioning
Velocity
Movement
distance
Time
C_STRT
C-STRT bit: Refer to the Move Command
message format, byte 0, bit 0.
* Refer to the Move Command Message Format on page 40.
Positioning with Notch/Zone (PLS) Outputs
How it works:
•
Use the same procedure as simple positioning, except the
positioning command code is to 0011.
•
Two settable notch signal outputs are available.
•
Notch signal output ON and OFF positions can be
incremental or absolute.
Velocity
Notch signal
output position
Time
C_STRT
Output
NOTCH1
Output
NOTCH2
External Input Positioning
How it works:
•
Use the same procedure as simple positioning, except the
positioning command code is 0010.
•
When the EXTP (external input signal) is activated during
a move, the system will perform the final positioning.
•
Parameters determine:
•
External positioning distance
•
External positioning velocity
Velocity
External positioning
movement distance
Time
C_STRT
Input
EXTP
43
JUSP-NS500
Indexer
How it works:
•
Use simple positioning to receive target position data from
a Profibus¥ master controller’s application software.
•
When the C_STRT bit turns ON, the system moves from
the current position to the target position.
•
Communicate target positions with a move command
message* using the positioning command code (set to
0001) and command data set with the target position.
•
Velocity, acceleration type, and acceleration rate work the
same way as in stepping operation.
Sigma II Profibus Module - NS500
Multi-Stage Velocity Positioning
Velocity
Step2
Step1
Time
C_STRT
C_STRT bit: Refer to the Move Command
message format, byte 0, bit 0.
How it works:
•
Use the same procedure as simple positioning, except the
positioning command code is 0100.
•
During axis movement, after reaching the parameter’s
initial target position, the axis switches to the next speed
and moves to the position specified in the next step.
•
A maximum of 16 steps are available.
•
Parameters set:
•
The number of steps
•
Reference velocity
•
Acceleration/deceleration
Station Number Positioning
1
2
8
3
7
JUSP-NS500
Indexer
4
6
5
Velocity
Time
STN
DIR
STN bit: Refer to the Move Command
message format, byte 2, bit 5.
44
How it works:
•
The system will index to the prescribed station number
when the STN command bit is turned ON. The target
station is defined with command data in the move
command message (refer to page 36).
•
Define (by parameter) up to 32,767 equidistant stations
per rotation.
•
Set the direction of rotation with the DIR bit or set the
system (by a parameter) to automatically select the
shortest distance.
•
Set acceleration and deceleration with parameters.
•
Accommodate rotary systems with gearing or belt ratios
with parameters for electronic gear ratios.
Sigma II Profibus Module - NS500
Homing
Homing type 0
Velocity
approach speed
creep speed
Time
HOME
Encoder
Phase C
DEC
Velocity
approach speed
creep speed
Time
HOME
Zero
Input
Homing type 2
Velocity
approach speed
creep speed
Time
HOME
Zero
Input
DEC
How it works:
When the HOME bit turns ON, the system returns to the home
position at the programmed speed and direction. After
reaching home, the position of the Sigma II Profibus¥resets to
zero.
•
If the HOME bit turns OFF during the procedure, the rest
of the homing operation is cancelled.
•
Homing methods:
•
Type 0: DEC and Encoder Phase C
•
Type 1: Zero Input
•
Type 2: DEC and Zero Input
•
Type 3: Encoder Phase C
•
Use parameters to set:
•
Homing direction
•
Homing approach and creep speed
•
Acceleration/deceleration velocity
•
Acceleration/deceleration type
•
Home offset (zero-point return final travel distance).
Homing type 3
Velocity
approach speed
creep speed
Time
HOME
Encoder
Phase C
45
JUSP-NS500
Indexer
Homing type 1
Sigma II Profibus Module - NS500
Sigma II Profibus¥ Software Utility
The Electronic Data Sheet (GSD) file is the recommended setup utility to configure Sigma II
Profibus¥from the networksoftware manager. Use Yaskawa’s NSXXX software for local setup of
the Sigma II Profibus¥ via personal computer. The following are examples of this software and the
utilities available through the GSD file.
Monitoring/Setup Software
Point Table Positioning Setup
JUSP-NS500
Indexer
Settings and Parameters Editing
46
Positioning Setup
Sigma II Profibus Module - NS500
Overtravel Configuration
JUSP-NS500
Indexer
Homing Setup
47
Sigma II Profibus Module - NS500
I/O Connections
Example of I/O Signal Connector (CN1)
Main Power
1MC
V
W
L1C
L2C
1
2
Be sure to
ground
Optical
encoder
SGDH Servo Amplifier
1CN
37
ALO1 Alarm code maximum output:
Operating voltage: 30VDC
ALO3
Operating current: 20mADC
39
ALO3
38
BAT (+) 21
JUSP-NS500
Indexer
Backup battery 2.8 to 4.5V
(When using an absolute encoder)
P BAT (-)
22
25
26
+24VIN
+24V
Home position signal
Be sure to properly prepare the
end of the shielded wire.
1CN
6
Optional Home position near
PG
2CN
FG
10
External positioning move function
Positive overtravel
(Forward run prohibited when OFF)
Negative overtravel
(Reverse run prohibited when OFF)
A (1)Servomotor
B (2)
M
C (3)
D (4)
U
L1
L2
+
47
3.3k:
27
28
40
-
/EXT1
44
P-OT
42
N-OT
43
/DEC
41
/EXT2
45
/COIN+ Positioning completed
(ON when positioning has
/COINbeen completed)
/BK+
Brake output
/BK-
(Brake released when ON)
29
/S-RDY+ Servo ready
30 /S-RDY- (ON when ready)
31
ALM+
32 ALM-
3CN
46
Servo alarm output
(OFF with an alarm)
Photocoupler maximum output:
Operating voltage: 30VDC
Operating current: 50mADC
Sigma Win
(Used for data tracing and
highly accurate auto-tuning only).
CN10 Dual Port RAM
Sigma II Indexer JUSP-NS500
P: Indicates twisted wire pairs.
48
Sigma II Profibus Module - NS500
Sigma II Indexer Application Module I/O (CN4)
Sigma II Indexer JUSP-NS500
SGDH Servo Amplifier
24VDC
(sinking or sourcing)
CN10 Dual Port RAM
4CN
11
EmSTOP
9
Optional External PG*
A
16
PA
/A
17
/PA
B
18
PB
/B
19
/PB
C
14
PC
/C
15
/PC
Notch 1+
13
Notch 1-
10
Notch 2+
20
Notch 2-
Photocoupler maximum output:
Operating voltage: 30VDC
Operating current: 50mADC
JUSP-NS500
Indexer
GND
1, 2,
PG 0V
3
12
*Use for "Full Closed Loop " function (alternative position loop feedback). Refer to the User’s Manual for details.
Sigma II Indexer with Profibus¥ JUSP-NS500
Pin Number
Signal
Description
Pin Number
Signal
1
PG0V
signal ground
11
+24V
2
PG0V
signal ground
12
NOTCH1+
24V shared terminal for
external inputs
Notch output 1
3
4
PG0V
—
signal ground
—
13
14
NOTCH1PC
Phase C input
5
6
—
—
—
—
15
16
/PC
PA
Phase B input
7
8
—
—
—
—
17
18
/PA
PB
Phase A input
9
EMSTOP
19
/PB
10
NOTCH2+
20
NOTCH2-
Description
—
—
—
—
Notch output 2
49
Sigma II Profibus Module - NS500
Indexer Ratings and Specifications
The JUSP-NS500 application module uses Profibus¥Standard network connector, LED status indicators, and address and baud rate settable switches.
Rotary switches (two)
•
Station Addresses 0 - 126
CN11: Setting up, commissioning, and monitoring port
LEDs
•
Module Status (ERR)
•
Network Status (COMM)
CN6: Profibus¥network port
Local node I/O
•
CN1 (Refer to connections on previous page)
•
CN4: Two optically isolated notch outputs
Profibus¥Application Module Specifications: JUSP-NS500
Power Supply Method
Power Consumption
Consumption Current
External Dimensions (w, h, d)
inches (mm)
Approximate Mass in lb. (kg)
Supplied from the SGDH power supply.
1.3W
250mA
0.79 u 5.59 u 5.04 (20 u 142 u 128)
0.441 (0.2)
Local Node Inputs and Outputs (Combined with the Amplifier’s I/O)
JUSP-NS500
Indexer
Digital Inputs
Digital Outputs
Six optically isolated 24VDC inputs: Emergency Stop (E Stop), latch,
home near (DEC) switch, forward overtravel, reverse overtravel, and
inputs for an optional full closed loop feedback.
Ten optically isolated 24VDC outputs: alarm out, servo-ready, servo
warning, holding brake, in-position, 3 alarm codes, and 2 notch settable outputs. Also included: a scalable encoder position output.
Servo System Specifications
Motor feedback resolution / standard
Motor feedback resolution / optional
Linear motor feedback resolution / standard
Choice of Amplifier sizes
13-bit incremental encoder (8,192PPR) for motors below 1hp
17-bit incremental encoder (16,384PPR) for motors above 1hp
16-bit absolute encoder for motors below 1hp
17-bit incremental/absolute for motors above 1hp
0.078 micron (using 20 micron linear scale pitch)
115 Vac single-phase, 30 to 200W
230 Vac single-phase, 30W to 1.5kW
230 Vac three-phase, 500W to 15kW
480 Vac three-phase, 500W to 15kW
Environmental
Ambient/Storage Temperature
Global Safety Certifications
50
0° to 55°C / -20° to 85°C
UL, CUL, CE, TUV
Sigma II Profibus Module - NS500
Selecting Your Sigma II Indexer System
Specify part number JUSP-NS500, the indexer add-on application module.
Use the tables beginning on the following page to specify choice of indexer interface cables, mating
connectors only, set-up and monitoring tools, and software.
System Configuration
Setup and mounting software
(B) SGDH Amplifier
Sigma II Application Module
NSXXX
x11CN setup software mating
connector or cable
xProfibus¥ network connector
GSD Software File
x1CN I/O cable or connector
x4CN I/O cable or connector
(A) Sigma II servomotor, linear motor, or direct drive motor.
Power Components
(E) Additional
regeneration resistor
capacity (if necessary),
optional DC reactor, etc.
(C) Pre-wired power and
feedback cables or
Profibus¥ Interface Unit Users Manual: SIE-C718-8
Linear Motor Users Manual: YEA-SIA-S800-39.11
(Manual provided at no charge with a purchase order, but must be requested).
Power Components
(motor, amplifier, and connections for power and feedback)
Select the required power components (servomotor, power and feedback connectors or pre-wired
cables, amplifier, regenerative packs, etc.) from the following catalog pages.
Use this table or the Yaskawa publications referenced below to determine which catalog section
describes the best servomotor for the application.
Application Requirements (Maximum)
Speed
(rpm)
5000
5000
3000
5000
3000
5000
6000
2000
System Voltage and Sigma II Servomotor Series
Number
Selection Guide for
Power Components
100Vac
200Vac
200Vac
480Vac
Rated Torque Peak Torque of Motor
Page Number *
oz • in [lb • in] oz • in [lb • in] Sizes Single-phase Single-phase Three-phase Three-phase
338
676
[845]
[140]
[845]
[140]
[43]
[1240]
1010
2027
[1988]
[422]
[1988]
[422]
[190]
[6120]
6
5
10
6
10
6
2
5
SGMAH
SGMPH
—
—
—
—
—
—
SGMAH
SGMPH
—
—
—
—
—
—
—
—
SGMGH
SGMSH
—
—
—
—
—
—
—
—
SGMGH
SGMSH
SGMUH
SGMBH
11
29
57
85
127
139
139
165
* Yaskawa publication: Sigma II Servo System Product Catalog Supplement G-MI#99001x-Sigma II,
Linear Motor Catalog KAE-S800-39.10, Direct Drive Motor Catalog YEA-KAA-DDM-1.
51
JUSP-NS500
Indexer
Specify a technical manual, if it is needed, on your servo
system purchase order:
(D) Connector kits for local
cable assembly
Sigma II Profibus Module - NS500
Sigma II Indexer Selection
Use the servomotor and amplifier selection of this catalog for specification and selection of Sigma II
servomotor and servo amplifier.
Component Description
Sigma II Add-on Indexer
Application Module
Part Number
Comments
Item Class
JUSP-NS500
Mounting hardware requirements: one
ground strap mounting screw.
(See supplementary information on the next
page.)
Stock
Use the Sigma II Application Module Mounting Dimensions on pages 75 to 82 for determining overall
indexer panel space requirements. For 480VAC large capacity amplifiers (22 - 55kW), refer to the
Sigma II catalog for amp dimensions.
Indexer I/O Interface Cable Selection
Component Description (E)
Input/Output 1CN Cable
& Transition
Terminal Block
JUSP-NS500
Indexer
Input/Output 1CN Cable
with Pigtail Leads
Input/Output 4CN Cable
with Pigtail Leads
52
Part Number
Comments
JUSP-TA50P
35mm DIN rail mountable; the
cable length is 0.5m.
JZSP-CKI01-†(A)*
Use the following key to specify
required cable length (last digit of
the part number):
1: 1m (standard)
2: 2m
3: 3m
CKI-NS300-††
Use the following key to specify
required cable length (last two
digits of the part number):
01: 1m (standard)
02: 2m
03: 3m
Item Class
Stock
Sigma II Profibus Module - NS500
Use the following key to specify
required cable length (last two
digits of the part number):
Input/Output 1CN Cable
Cable with Female
D-Sub output Connector*
JZSP-CKI0D-††**
Input/Output 1CN+4CN
Cable with Female
D-Sub output Connector* Applicable only for
SGDH-1E (15 kW) and
below.
CKI-NS300D-††**
(for use with NS500
Indexer)
D50:
01:
02:
03:
0.5m
1m (standard)
2m
3m
Use the following key to specify
required cable length (last two
digits of the part number):
D50:
01:
02:
03:
0.5m
1m (standard)
2m
3m
* The “(A)” at the end of the cable part number indicates the revision level. Revision level may be subject
to change prior to this catalog reprinting.
** 50 Pin Female D-Sub output connector mates to customer supplied third party terminal block. (e.g.,
Wago #289-449, Weidmuller #919658, Phoenix #2283647, Amphenol/Sine #20-51039, and many others).
Component Description (E)
Part Number
1CN Mating
Connector
JZSP-CKI9
4CN Mating
Connector
DE-9406973
Comments
Item Class
for SGDH I/O
50-pin
Solder type with cover
Stock
3CN Peripheral
Mating Connector
—
YSC-1
CN11 Setup Software
Mating Connector
—
DE9404559
Profibus Mating
Connector
—
—
Strongly advised: YS-16 cable
(next page)
Standard 9-pin male D-Sub
connector. (Note: termination
resistors are required for the
end of the network.)
53
JUSP-NS500
Indexer
Mating Connector Selection
Sigma II Profibus Module - NS500
Supplementary Information
For grounding, connect the ground wire of the Sigma II Indexer application module to the point
marked "G" on the SGDH servo amplifier. Refer to the following table for the proper screw size.
Servo Amplifier
"G" Screw
M3 x 10
(round head phillips with split lock
washer and flat washer
M4 x 10
(round head phillips with split lock
washer and flat washer
M4 x 8
(round head phillips with split lock
washer and flat washer
SGDH-A3-02BE
SGDH-A3-10AE
SGDH-15-50AE
SGDH-15-50DE
SGDH-60-1EAE
SGDH-60-1EDE
SERVOPACK
SGDH-
NS600
MODE/SET
JUSP-NS500
Indexer
POWER
Example: For SGDH (30W to 5.0kW)
54
One supplied with NS500
One supplied with NS500
One supplied with NS500
Use front panel side screw hole.
GROUND WIRE
"G"
CHANGE
Comments
Sigma II Profibus Module - NS500
Peripheral Device Selection
Component Description (E)
Hand-held Digital
Operator Panel
Part Number
Comments
JUSP-OP02A-1
and
JZSP-CMS00-1
Portable unit with 1m adapter cable
for Sigma II Indexer
Item Class
Stock
Setup Software Interface
Cable for CN10
JZSP-BA01
—
YS-16
3.6V, 1000mAh (lithium battery)
Pre-wired 1.5m cable with
9-pin connector (RS232) for
NSXXX software
Sigma II Network Tools and Documentation
Component Description (E)
Publication
Number*
Comments
Item Class
• Yaskawa’s NSXXX monitoring and set-up software for
Windows 95, Windows 98,
and Windows NT.
• Electronic Data Sheet (GSD)
software for Profibus¥ configuration software manager.
• NS500 User’s Manual.pdf.
Stock
Includes :
Fieldbus Tools and
documentation*
YEA-CD-S80034.1
*Available by request. Contact: [email protected].
55
JUSP-NS500
Indexer
Absolute Encoder Battery
Sigma II Profibus Module - NS500
NOTES
JUSP-NS500
Indexer
56
Sigma II Application Modules
Dimensions in inches (mm)
SGDH-A3AE to -02AE (200V Single-phase, 30 to 200W) and
SGDH-A3BE to -01BE (100V Single-phase, 30 to 100W) SERVOPACK
SGDH
YASKAWA
88888
MODE/SET
DATA/
CHARGE
POWER
C
N
3
L2
†1
A
6.30 (160)
L1
†2
L1C
C
N
1
L2C
B1
B2
U
V
2.17 (55) C
B
C
N
2
W
2.95 (75)
D
5.12 (130)
2 x M4 screw holes
5.89 (149.5) ±0.020 (0.5)
(Mounting pitch)
0.22
(5.5)
Mounting Hole Diagram
0.20 (5)
•
•
Sigma II
Modules
SGDH Servo Amplifier/Application Modules
Part Number
JUSP-NS100
JUSP-NS300
JUSP-NS310
JUSP-NS500
JUSP-NS600
JUSP-FC100
MP940
*
**
***
0.67 (17)
0.20 1.97 (50)
(5)
SGDH Option Description
Mechatrolink
Indexer with DeviceNet¥
Indexer with DeviceNet¥
Profibus
Indexer
Full Closed Loop
Single Axis Control
A
B
5.59 (142)
0.35 (9)
5.67 (144)
0.32 (8)
5.59 (142)
0.35 (9)
C
0.79 (20)
D
Approximate
Mass**
lb (kg)
5.08 (129)
0.44 (0.2)
5.24 (133)**
0.7 (0.32)
5.08 (129)
1.22 (31)***
0.44 (0.2)
0.89 (0.40)
Option card only.
Add 0.75in (19mm) to front end of card for micro connector.
Add approx. 0.75in (19mm) for optional back-up battery.
75
Sigma II Application Modules
•
•
•
SGDH-04AE (200V Single-phase, 400W),
SGDH-02BE (100V Single-phase, 200W) and
SGDH-04FE (100V Single-phase, 400W)
Sigma II
Modules
SERVOPACK
SGDH
YASKAWA
88888
MODE/SET
DATA/
POWER
C
N
3
L1
L2
†1
†2
L1C
A
6.30 (160)
CHARGE
C
N
1
L2C
B1
B2
U
V
C
N
2
2.95 (75)
C
B
W
D
2.95 (75)
5.12 (130)
2 x M4 screw holes
0.20 (5)
5.89 (149.5) ±0.020 (0.5)
(Mounting pitch)
0.22
(5.5)
Mounting Hole Diagram
Part Number
JUSP-NS100
JUSP-NS300
JUSP-NS310
JUSP-NS500
JUSP-NS600
JUSP-FC100
MP940
*
**
***
76
0.47
12)
0.67 (17)
2.48 (63)
SGDH Option Description
Mechatrolink
Indexer with DeviceNet¥
Indexer with DeviceNet¥
Profibus
Indexer
Full Closed Loop
Single Axis Control
A
B
5.59 (142)
0.35 (9)
5.67 (144)
0.32 (8)
5.59 (142)
0.35 (9)
Option card only.
Add 0.75in (19mm) to front end of card for micro connector.
Add approx. 0.75in (19mm) for optional back-up battery.
C
0.79 (20)
D
Approximate
Mass**
lb (kg)
5.08 (129)
0.44 (0.2)
5.24 (133)**
0.7 (0.32)
5.08 (129)
1.22 (31)***
0.44 (0.2)
0.89 (0.40)
Sigma II Application Modules
Sigma II
Modules
SGDH-05AE to -10AE (200V Three-phase, 0.5 to 1.0kW)
SGDH-08AE-S (200V* Single-phase, 750W)
2-)0.20 ()5) holes
YASKAWA SERVOPACK
SGDH—
88888
MODE/SET
DATA/
CHARGE POWER
6.30 (160)
L1
C
N
3
L2
L3
†2
A
†1
C
N
1
L1C
L2C
B1
B2
B3
T
V
C
N
2
C
2
2.95 (75)
W
C
D
B
U
2.95 (75)
5.12 (130)
2 x M4 screw holes
5.89 (149.5) ±0.020 (0.5)
(Mounting pitch)
0.22
(5.5)
Mounting Hole Diagram
0.20 (5)
•
•
Part Number
JUSP-NS100
JUSP-NS300
JUSP-NS310
JUSP-NS500
JUSP-NS600
JUSP-FC100
MP940
*
**
***
0.47
12)
0.67 (17)
2.48 (63)
SGDH Option Description
Mechatrolink
Indexer with DeviceNet¥
Indexer with DeviceNet¥
Profibus
Indexer
Full Closed Loop
Single Axis Control
A
B
5.59 (142)
0.35 (9)
5.67 (144)
0.32 (8)
5.59 (142)
0.35 (9)
C
0.79 (20)
D
Approximate
Mass*
lb (kg)
5.08 (129)
0.44 (0.2)
5.24 (133)**
0.7 (0.32)
5.08 (129)
1.22 (31)***
0.44 (0.2)
0.89 (0.40)
Option card only.
Add 0.75in (19mm) to front end of card for micro connector.
Add approx. 0.75in (19mm) for optional back-up battery.
* Rating 200 to 230Vac +10% -5%
77
Sigma II Application Modules
•
•
SGDH-15AE (200V Three-phase, 1.5kW)
SGDH-05DE (400V Three-phase, 0.5kW to 1.5kW)
Sigma II
Modules
SGDH
YASKAWA
88888
DATA/
6.30 (160)
MODE/SET
CHARGE
L1
POWER
C
N
3
L2
†1
†2
L1C
C
N
1
L2C
B1
B2
U
V
C
N
2
4.33 (110)
C
D
7.09 (180)
B
W
2.95 (75)
0.20
(5)
Part Number
JUSP-NS100
JUSP-NS300
JUSP-NS310
JUSP-NS500
JUSP-NS600
JUSP-FC100
MP940
*
**
***
78
2 x M4 screw holes
(Mounting pitch)
0.20
(5)
5.89 (149.5) ±0.020 (0.5)
0.22
(5.5)
Mounting Hole Diagram
Cooling fan
3.94 (100) ±0.020 (0.5)
(Mounting pitch)
0.20
(5)
SGDH Option Description
Mechatrolink
Indexer with DeviceNet¥
Indexer with DeviceNet¥
Profibus
Indexer
Full Closed Loop
Single Axis Control
A
B
5.59 (142)
0.35 (9)
5.67 (144)
0.32 (8)
5.59 (142)
0.35 (9)
Option card only.
Add 0.75in (19mm) to front end of card for micro connector.
Add approx. 0.75in (19mm) for optional back-up battery.
C
0.79 (20)
D
Approximate
Mass**
lb (kg)
5.08 (129)
0.44 (0.2)
5.24 (133)**
0.7 (0.32)
5.08 (129)
1.22 (31)***
0.44 (0.2)
0.89 (0.40)
Sigma II Application Modules
SGDH-20AE, 30AE (200V Three-phase, 2.0kW, 3.0kW)
SGDH-15AE-S (200V Single-phase, 1.5 kW)*
SGDH-20DE, 30DE (400V Three-phase, 2.0kW, 3.0kW)
YASKAWA
SERVOPACK
Sigma II
Modules
SGDH
88888
2-)0.24 ()6) holes
MODE/SET
CHARGE
DATA/
POWER
CN3
9.84 (250)
CN1
CN2
C
B2
B
B3
U
V
W
4.33 (110)
D
2.95 (75)
7.09 (180)
4 x M5 screw holes
(Mounting pitch)
9.39 (238.5) ±0.020 (0.5)
0.24
(6)
Mounting Hole Diagram
0.22
(5.5)
•
•
•
(100°)
1.57
(40)
3.94 (100)
0.20
(5) ±0.020 (0.5)
(Mounting pitch)
Part Number
JUSP-NS100
JUSP-NS300
JUSP-NS310
JUSP-NS500
JUSP-NS600
JUSP-FC100
MP940
*
**
***
SGDHG Option Description
Mechatrolink
Indexer with DeviceNet¥
Indexer with DeviceNet¥
Profibus
Indexer
Full Closed Loop
Single Axis Control
Cooling fan
0.20
(5)
A
B
5.59 (142)
3.9 (99)
5.67 (144)
3.86 (98)
5.59 (142)
3.9 (99)
C
0.79 (20)
D
Approximate
Mass**
lb (kg)
5.08 (129)
0.44 (0.2)
5.24 (133)**
0.7 (0.32)
5.08 (129)
1.22 (31)***
0.44 (0.2)
0.89 (0.40)
Option card only.
Add 0.75in (19mm) to front end of card for micro connector.
Add approx. 0.75in (19mm) for optional back-up battery.
* Rating: 200 to 230Vac +10%, -5%
79
Sigma II Application Modules
•
•
SGDH-50AE (200V Three-phase, 5.0kW)
SGDH-50DE (400V Three-phase, 5.0kW to 1.5kW)
2 )0.24 ()6) hole
YASKAWA SERVOPACK
200V
SGDH-50AE
Sigma II
Modules
Ver.
L1
L2
MODE/SET
DATA/
CHARGE POWER
L3
C
N
3
A
1
2
9.84 (250)
C
N
1
L1C
L2C
C
N
2
B1
B1
B1
C
V
B
U
W
D
5.31 (135)
2.95 (75)
9.06 (230)
Mounting Hole Diagram
9.39 (238.5) ±0.020 (0.5)
Mounting pitch
0.24
(6)
4 x M5 screw holes
(10
0°)
0.22
(5.5)
3.27 (8.3)
0.20
(5)
Part Number
JUSP-NS100
JUSP-NS300
JUSP-NS310
JUSP-NS500
JUSP-NS600
JUSP-FC100
MP940
**
**
***
80
4.92 (125)
(Mounting pitch)
Description
Mechatrolink
Indexer with DeviceNet¥
Indexer with DeviceNet¥
Profibus
Indexer
Full Closed Loop
Single Axis Control
0.20
(5)
A
B
5.59 (142)
3.9 (99)
5.67 (144)
3.86 (98)
5.59 (142)
3.9 (99)
Option card only.
Add 0.75in (19mm) to front end of card for micro connector.
Add approx. 0.75in (19mm) for optional back-up battery.
C
0.79 (20)
D
Approximate
Mass**
lb (kg)
5.08 (129)
0.44 (0.2)
5.24 (133)**
0.7 (0.32)
5.08 (129)
1.22 (31)***
0.44 (0.2)
0.89 (0.40)
Sigma II Application Modules
SGDH-60AE, SGDH-75AE (200V Three-phase, 6.0kW, 7.5kW)
SGDH-60DE, SGDH-75DE (400V Three-phase, 6.0kW, 7.5kW)
Sigma II
Modules
SERVOPACK 200V
SGDHVer.
CN8
CN5
A
maximum 13.78 (350)
CN3
CN2
CN1
B
C
L1
L2
L3
+
-
B1
B2
U
V
W
D
maximum 9.06 (230)
9.25 (235)
View A
0.30
(7.5)
Mounting Hole Diagram
3.54 (90)
13.19 (335)
(Mounting pitch)
5.71 (145)
4 x M5 screw holes
View A
0.30
(7.5)
•
•
Part Number
JUSP-NS100
JUSP-NS300
JUSP-NS310
JUSP-NS500
JUSP-NS600
JUSP-FC100
MP940
*
**
***
0.98
(25)
7.09 (180)
(Mounting pitch)
SGDH Option Description
Mechatrolink
Indexer with DeviceNet¥
Indexer with DeviceNet¥
Profibus
Indexer
Full Closed Loop
Single Axis Control
0.98
(25)
A
B
5.59 (142)
4.5 (114.5)
5.67 (144)
4.47 (113.5)
5.59 (142)
4.5 (114.5)
C
0.79 (20)
D
Approximate
Mass*
lb (kg)
5.08 (129)
0.44 (0.2)
5.24 (133)**
0.7 (0.32)
5.08 (129)
1.22 (31)***
0.44 (0.2)
0.89 (0.40)
Option card only.
Add 0.75in (19mm) to front end of card for micro connector.
Add approx. 0.75in (19mm) for optional back-up battery.
81
Sigma II Application Modules
•
•
SGDH-1AAE, SGDH-1EAE (200V Three-phase, 11.0kW, 15.0kW)
SGDH-1ADE, SGDH-1EDE (400V Three-phase, 11.0kW, 15.0kW)
Cooling fan
Air flow
Sigma II
Modules
SERVOPACK 200V
SGDH—
Ver.
YASKAWA
5.51 (140)
CN3
maximum 17.72 (450)
8. 8. 8. 8. 8.
A
DATA
CN1
CN2
B
C
L1
L2 L3
B1 B2
+1 +2
U
V
W
10.55 (268)
D
11.12 (285)
0.295
(7.5)
View A
Mounting Hole Diagram
0.295
(7.5)
17.13 (435)
5.59 (142)
8.23 (209)
8.74 (2.22)
10.67 (271)
View A:
Part Number
JUSP-NS100
JUSP-NS300
JUSP-NS310
JUSP-NS500
JUSP-NS600
JUSP-FC100
MP940
*
**
***
82
1.18 0.28 (7)
(30)
7.87 (200)
SGDH Option Description
Mechatrolink
Indexer with DeviceNet¥
Indexer with DeviceNet¥
Profibus
Indexer
Full Closed Loop
Single Axis Control
1.18
(30)
A
B
5.59 (142)
4.5 (114.5)
5.67 (144)
4.47 (113.5)
5.59 (142)
4.5 (114.5)
Option card only.
Add 0.75in (19mm) to front end of card for micro connector.
Add approx. 0.75in (19mm) for optional back-up battery.
C
0.79 (20)
D
Approximate
Mass*
lb (kg)
5.08 (129)
0.44 (0.2)
5.24 (133)**
0.7 (0.32)
5.08 (129)
1.22 (31)***
0.44 (0.2)
0.89 (0.40)
Sigma II Indexer Application Modules
Yaskawa . . . A World of Automation Solutions
Yaskawa Electric America, Inc.
Chicago-Corporate Headquarters
2121 Norman Drive South
Waukegan, Illinois 60085
1-800-YASKAWA
http://www.yaskawa.com
Yaskawa Electric America, Inc. November 2003
Yaskawa Electric Europe
Am Kronberger Hang 2, 65824
Schwalbach, Germany
49-6196-569-300
http://www.yaskawa.de
Yaskawa Electric Corporation
New Pier Takeshiba
South Tower, 1-16-1 Kaigan
Minatoku, Tokyo 105 Japan
81-3-5402-4511
http://www.yaskawa.co.jp
G-MI#00008F Printed In U.S.A.